CN108445468B - A kind of distribution type laser radar - Google Patents
A kind of distribution type laser radar Download PDFInfo
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- CN108445468B CN108445468B CN201810292141.3A CN201810292141A CN108445468B CN 108445468 B CN108445468 B CN 108445468B CN 201810292141 A CN201810292141 A CN 201810292141A CN 108445468 B CN108445468 B CN 108445468B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
- G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4817—Constructional features, e.g. arrangements of optical elements relating to scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
- G01S7/4818—Constructional features, e.g. arrangements of optical elements using optical fibres
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The present invention proposes a kind of distribution type laser radar, comprising: optical transceiver module, multiple Distributed Scans units, distribution type fiber-optic connection component；Optical transceiver module includes: light source, emission detection light；Light receiving unit, for receiving detection light echo；The multiple Distributed Scans unit, distribution are set to the carrier of the distribution type laser radar；The distribution type fiber-optic connection component, the unit of the be of coupled connections optical transceiver module and the multiple Distributed Scans；The detection light that light source emits in the optical transceiver module is coupled to distribution type fiber-optic connection component, and by the distribution type fiber-optic connection component synchronous transfer to the multiple Distributed Scans unit, the unit of the multiple Distributed Scans will detect light emitting to search coverage by scanning means, and receive the reflected light of the search coverage, it will reflect back into optical transport to the optical transceiver module via distribution type fiber-optic connection component, and received by the light receiving unit in the optical transceiver module.
Description
Technical field
The invention belongs to field of radar, and in particular to a kind of distribution type laser radar based on optical fiber.
Background technique
Detection of obstacles of the automatic driving vehicle on travel is the important set in environment perception technology research field
At part.In the application of obstacle detection, common sensor has laser radar, camera, millimetre-wave radar, ultrasonic sensor
Deng.Laser radar measures distance by measurement transmitting light and from the time difference between body surface reflected light.Currently, in the market
Multi-line laser radar, is distribution in vertical direction by multiple laser emitters, forms a plurality of line by the rotation of motor
The scanning of beam.For example, the laser radar of 64 lines of Velodyne company production, however, high line number laser radar leads to cost
It improves, so using also restrained.In laser radar, the cost of transmitter and receiver be it is highest, in order to realize drop
Low cost, it will usually be coupled using low line number laser radar, effect is equivalent to a multi-line laser radar, is reducing laser thunder
Reach this while and improve resolution ratio, becomes the hot spot studied at present.
Currently used technical solution has: multiple laser radars are coupled.For example, by the laser radar of 4 16 lines
It is coupled, by reasonable design layout, 4 laser radars is controlled using control unit, are joined by laser radar
Calibration and data synchronization processing are closed, achievees the purpose that hybrid solid-state laser radar point cloud variable density is freely combined.
Summary of the invention
In order to solve the technical problems existing in the prior art, the first aspect of the present invention proposes a kind of distribution type laser thunder
It reaches, comprising: optical transceiver module, multiple Distributed Scans units, distribution type fiber-optic connection component；The optical transceiver module (101),
Include: light source, emission detection light；Light receiving unit, for receiving detection light echo；The multiple Distributed Scans unit, distribution
It is set to the carrier of the distribution type laser radar；The distribution type fiber-optic connection component, be of coupled connections the optical transceiver module
With the unit of the multiple Distributed Scans；The detection light that light source emits in the optical transceiver module is coupled to distribution type fiber-optic
Connection component, and by the distribution type fiber-optic connection component synchronous transfer to the multiple Distributed Scans unit, it is the multiple
The unit of Distributed Scans passes through scanning means for detection light emitting to search coverage, and receives being reflected back for the search coverage
Light will reflect back into optical transport to the optical transceiver module via distribution type fiber-optic connection component, and by the optical transceiver module
Light receiving unit receive.
The second aspect of the present invention proposes another distribution type laser radar, and the laser radar includes: interior optical assembly, point
Cloth scanning element, joint；The interior optical assembly, is set to carrier inside, and include at least: light source, with transmitting
Detect light；Light receiving unit, for receiving detection light；Distributed Scans unit is stated, distribution is set to the carrier；The optical fiber
Connection component is of coupled connections with the interior optical assembly, while being of coupled connections with the unit of Distributed Scans；In the interior optical assembly
The detection light of light source transmitting is coupled to distribution type fiber-optic connection component, and is transmitted to point by the distribution type fiber-optic connection component
Cloth scanning element, the unit of the Distributed Scans passes through scanning means for detection light emitting to search coverage, and receives spy
The reflected light for surveying region will reflect back into optical transport to the interior optical assembly via distribution type fiber-optic connection component, and by described
Light receiving unit receives.
It is that the present invention can reach the utility model has the advantages that
The a set of laser emitter of Distributed Scans units shared and laser detector and relevant electronic component.By dividing
The permutation and combination of cloth scanning element solves the problems, such as that higher cost, volume are larger when the coupling of current multilasered optical radar, while
Vertical resolution is improved using multiple low line number laser radars
Detailed description of the invention
Specific embodiments of the present invention will be described in further detail with reference to the accompanying drawing；
Fig. 1 is the distribution type laser radar arrangement schematic diagram that this specification embodiment provides.
Fig. 2 is the distribution type laser radar optically coupled device structural schematic diagram that this specification embodiment provides.
Fig. 3 is the distribution type laser radar scanning schematic illustration that this specification embodiment provides.
Fig. 4 is the distribution type laser radar scanning schematic illustration that this specification embodiment provides.
Fig. 5 is the scanning means schematic illustration based on multi fiber equivalent light source that this specification embodiment provides.
Fig. 6 is the scanning means schematic illustration based on multi fiber equivalent light source that this specification embodiment provides.
Fig. 7 is the scanning means schematic illustration based on multi fiber equivalent light source that this specification embodiment provides.
Fig. 8 is the scanning means schematic illustration based on multi fiber equivalent light source that this specification embodiment provides.
Fig. 9 is the 2-D optical fibre array schematic diagram that this specification embodiment provides.
Figure 10 is the 2-D optical fibre array schematic diagram that this specification embodiment provides.
Figure 11 is the fiber array schematic illustration with fiber clamp that this specification embodiment provides.
Figure 12 is the fiber end face total reflection principle schematic diagram that this specification embodiment provides.
Figure 13 is the carrier scanning area schematic that this specification embodiment provides.
Figure 14 is the interior optical assembly distribution schematic diagram that this specification embodiment provides.
Figure 15 is the interior optical assembly distribution schematic diagram that this specification embodiment provides.
Figure 16 is the unmanned plane carrier structural schematic diagram that this specification embodiment provides.
Figure 17 is the interior optical assembly distribution schematic diagram that this specification embodiment provides.
Specific embodiment
In order to make those skilled in the art more fully understand the scheme of this specification, below in conjunction with attached in embodiment
Figure, is clearly and completely described the technical solution in this specification embodiment, it is clear that described embodiment is only
A part of the embodiment of this specification, rather than whole examples.The embodiment of base in this manual, ordinary skill
This specification protection all should belong in personnel's every other embodiment obtained without making creative work
Range.
In one embodiment of this specification, as shown in Figure 1, the laser radar includes: optical transceiver module 101, it is more
A Distributed Scans unit 103, distribution type fiber-optic connection component 102；The optical transceiver module 101 includes: light source, and transmitting is visited
Survey light；Light receiving unit, for receiving detection light echo；Multiple Distributed Scans units 103 are stated, distribution is set to the distribution
The carrier of laser radar；The distribution type fiber-optic connection component 102, be of coupled connections the optical transceiver module 101 with it is the multiple
The unit 103 of Distributed Scans；The detection light that light source emits in the optical transceiver module 101 is coupled to distribution type fiber-optic connection
Component 102, and by 102 synchronous transfer of distribution type fiber-optic connection component to the multiple Distributed Scans unit 103, it is described
The unit 103 of multiple Distributed Scans passes through scanning means for detection light emitting to search coverage, and receives the search coverage
Reflected light, will reflect back into optical transport to the optical transceiver module 101 via distribution type fiber-optic connection component 102, and by institute
The light receiving unit stated in optical transceiver module 101 receives.
Optical transceiver module 101, includes at least: light source, is used for emission detection light；Light receiving unit, for receiving detection light.
In a possible embodiment, it is sharp that edge-emission semiconductor laser, face emitting semiconductor laser, hetero-junctions may be selected in light source
Light device, stripe laser, GaAlAs/GaAs laser, InGaAsP/InP laser, quantum-well laser, micro-cavity laser etc.
Deng.Detecting optical band may be selected near infrared band, such as 960nm, 1320nm or 1550nm, and transmission power selection is pacified in human eye
In gamut.After light source emission detection light in the optical transceiver module 101, it is coupled to distribution type fiber-optic connection component
In 102, there are many coupled modes between light source and optical fiber.
In a possible embodiment, as shown in Fig. 2, the detection light that optical transceiver module 101 is emitted passes through 101OUTPUT
Port is input to photo-coupler, the port the input port 102INPUT company of the port 101OUTPUT and distributed light connects component 102
It connects, the port 102INPUT and passes through the light in the output light and 102COM for realize the port 101OUTPUT that is of coupled connections with 102COM
Fine optical coupling.To which optical assembly emergent light and joint are of coupled connections in realizing.In Fig. 2, coupling in 102COM
The number of fibers of conjunction is 4, is respectively connected to the left front of carrier, the Distributed Scans dress of right front, left back, right back
It sets.According to actual detection needs, more optical fiber interfaces can also be arranged in 102COM, for example, 101OUTPUT is may be coupled to
10 mouthfuls perhaps on 12 mouthfuls of 102COM left front, right front, left back, the right back of such carrier respectively correspond two or
Three optical fiber even more multifiber.Certainly, quantity is only schematical, in the present specification, not to the number of coupling optical fiber
Amount is defined.
In a possible embodiment, as shown in figure 3, distributed light connects component 102 is realized by optical fiber.That is, light is received
The detection light that hair component 101 is emitted is coupled in optical fiber by coupler, then by optical transport in such a way that pure optical fiber connects
To distributed light scanning apparatus 103.At distributed light scanning apparatus 103, detection light is projected from fiber end face, at this point, optical fiber
End face becomes an equivalent light source, and the detection light issued is scanned unit and is reflected into region to be detected.
In a possible embodiment, as shown in figure 4, each Distributed Scans unit accesses multifiber, Duo Genguang
Fibre forms multiple equivalent light sources, and the detection light of multifiber outgoing is incident on scanning element from different perspectives.In the embodiment of Fig. 4
In, multifiber, towards angle, forms the incident angle different to scanning element, incident ray is scanning by setting optical fiber
Scanning field of view is formed under the driving of unit.
Scan frequency and scan amplitude are two important indicators for influencing detection imaging, and scan frequency determines the resolution of imaging
Rate, and scan amplitude determines the investigative range of imaging.Under normal conditions, scanning resolution and investigative range the two indexs are difficult
It takes into account, in order to reach high scanning resolution, scanning device is needed to be vibrated with high frequency, be difficult to meet in the case big
The requirement of scanning range.Meanwhile because laser radar itself requirement, scanning range again can not be too small.
In the embodiment of such as Fig. 4, multiple equivalent light sources are formd using multifiber, ensure that scanning resolution
While ensure that scanning range.By adjusting the light output end of multifiber, the emergent light of optical fiber is set to be incident on scanning single
Member reflecting surface on, while make incident ray through scanning formed field of view portion overlapping or just can be with split.In this way, can be with
In the case where scanning element keeps higher scan frequency, guarantee that there is larger detection viewing field.It theoretically can be by mentioning
It for the number of fibers of equivalent light source, can guarantee the situation constant in scan frequency, possess the maximum field of view's model that can be received
It encloses.
In this specification embodiment, use fiber end face emergent light undoubtedly very favorable as equivalent light source.It is first
First, by way of coupling, light source can be only set in optical transceiver module, without providing light source in other positions, this can
To greatly reduce the quantity of light source and the quantity of optical transceiver module, cost can be undoubtedly greatly reduced in this.Second, tradition scanning
Mode can not arrange many lasers around a scanning element, be because laser itself has certain volume, space limit
The implementation of multiple light sources has been made, and has utilized optical fiber equivalent light source, multiple equivalent light sources can be arranged in a scanning element, this
The utilization efficiency in space is substantially increased, and since fiber exit end face is only a point, can easily be adjusted
The shooting angle of optical fiber controls scanning area.Third can be very well controlled the same of detection light by the way of fiber coupling
Step property.
It is schematically illustrated below according to Fig. 5-8:
As shown in figure 5, the laser light incident that is emitted as equivalent light source of a fiber end face to scanner reflecting surface simultaneously
Form visual field a.
As shown in fig. 6, by adjusting the shooting angle of optical fiber, laser that second fiber end face is emitted as equivalent light source
It is incident on the reflecting surface of scanner and forms visual field b.
As shown in fig. 7, by adjusting the shooting angle of optical fiber, laser that third root fiber end face is emitted as equivalent light source
It is incident on the reflecting surface of scanner and forms visual field c.
As shown in figure 8, three fiber exit light be scanned after formed complex visual field be visual field a, visual field b, depending on
The superposition of field c three.And in three sub- visual field a, b, c, since scanning element keeps higher scan frequency, the resolution of radar
Rate is unaffected.
Certainly, Fig. 5-8 only illustratively illustrates, by the way that the quantity of optical fiber, such as increase or reduction optical fiber is arranged
Quantity is as equivalent light source, it is ensured that in the case that visual field is constant, improves the resolution ratio of laser radar.In addition, multiple equivalent
The introducing of light source is equivalent to and visual field to be detected is divided into more parts, can be obtained in this way by sacrificing scan amplitude bigger
Scan frequency, to improve the resolution ratio upper limit of same set of scanning element.For example, for single source, scanning element
The scan frequency of design is 85Hz, and the scanning angle of scan mirror is divided into ± 5 °；And for multiple equivalent light sources, it can reduce and sweep
The scanning angle for retouching mirror surface is divided into ± 3 °, can be improved be limited to 130Hz in the scan frequency of scanning element in this way.
Meanwhile the process that Fig. 5-8 is exemplarily described, it is more applicable to one-dimensional scanning or the lower two dimension of complexity
Scanning.In some cases, optical fiber can also provide light source by way of array light source for scanning element.As shown in figure 9, light
Fibre is arranged in the form of two-dimensional array in space, and is incident on the reflective surface of scanning device at an angle, and device is scanned
Part carries out two-dimensional scanning and forms multiple two-dimentional sub-light fields, and the superposition of multiple two dimension sub-light fields forms the covering to search coverage.Fig. 9
In optical fiber two dimensional equivalent array of source is formed with the two-dimensional array form of 4X4, in fact, according to the difference of scanning device, with
And requirement of the distributed optical scanning 103 for operative scenario is different, two-dimensional array can also be circular array as shown in Figure 10.
Without loss of generality, for example, 2X2,3X2,2X3,3X3, wait the rectangular array for the MXN for being suitble to each sub-light field to be overlapped mutually.
The light output end face of distribution type fiber-optic connection component 102 is arranged to the form of space two-dimensional array, is conducive to sky
Between two-dimentional market combination and superposition, but two-dimensional array needs the optical fiber in array to be respectively provided with fixed direction and fixed
Angle, this needs fine installation and debugging to complete, and in use, and the factors such as external vibration also be easy to cause light
The change of fine position and/or direction in turn results in the change that visual field is arranged originally.
Therefore, in a possible embodiment, using fixture by the optical fiber as equivalent light source be fixed on one it is one-dimensional
In array, and the direction of optical fiber ontology is substantially parallel.Optical fiber can be firmly controlled by one-dimensional array fixture
Position, also, using the light direction of one-dimensional fixture control fiber end face, in this way, fixture is still even if meeting with the external force such as vibration
It can be held fixedly fiber end face, guarantee the stability of system.
In a possible embodiment, as shown in figure 11, except use fixture come to as equivalent light source optical fiber progress
It is fixed outer, the light-emitting surface of optical fiber can also be handled.According to Maxwell equation, when the light-emitting surface of optical fiber is straight section
When, the wave surface of optical output field is a conical surface, and for one-dimensional fixture, in order to the light that emits multifiber into
Row converges on scanning surface or condenser lens, can be realized by cutting optical fibre end face.Such as Figure 11, in 12, fiber end face
It is cut into different angle with being inclined by, is defined as the inclination corner cut θ of optical fiber, be less than critical angle C's in the inclination corner cut θ of optical fiber
In the case where complementary angle, it can be totally reflected on the end face of cutting from the parallel incident detection light of optical fiber, not change light in this way
In the case where fine direction itself (optical fiber is parallel), change the direction of fiber exit light.Wherein, critical angle C meets:
Wherein n2 is air refraction, and n1 is optical fibre refractivity.Figure 11, in 12, the light of fiber exit is with different angle
It is incident on lens surface, in some embodiments, plus lens can also be omitted, by the fiber end face for cutting different angle
Emergent light is incident on mirror surface, realize light field partly overlap or lucky split.
Meanwhile receiving light path receives the reflected light in target acquisition region, and will be received by reception optical fiber
Obtained detection optical transport is converted into electric signal for light echo is detected to optical transceiver module, by light receiving unit.
In a possible embodiment, Distributed Scans unit can also not use after receiving heliogram
Optical fiber transmits heliogram.But directly light echo is believed according to the light receiving unit being arranged at Distributed Scans unit
Number electric signal is converted to, then carries out the transmission of electric signal.And the transmission of electric signal can choose wire transmission or wireless biography
Defeated mode.Wire transmission mode can be using the electric signal transmissions mode such as coaxial cable, and wireless transmission method, can be with
Based on wirelessly transferred chip, by treated, electric signal transmission to such as driving assistance system or signal processing system is united
One signal processing identifies the barrier of target area with realizing.
In a possible embodiment, light receiving unit selection APD (Avalanche Photo Diode) detection is single
Member, especially one dimensional linear array APD or more linear array APDs.Floodlight irradiation, a laser are carried out to target scene based on APD array
Pulse can be obtained the 3-D image of target, have lot of advantages compared to simple scan mode, such as be not necessarily to using APD imaging
Scanner, more easily system compact；It is low to laser frequency and power requirement, and reduce between transmitting and reception system
Beam collimation requirement；Motion blur can be overcome, have motive target imaging ability, frame frequency is high, has and penetrates imaging capability.
Still as shown in Figure 1, the Distributed Scans unit 103, is set to outside the carrier；The distribution type fiber-optic
Connection component 102 is of coupled connections with the optical transceiver module 101, while being of coupled connections with the unit of Distributed Scans 103.Point
Cloth scanning element 103 is set to the external surrounding of carrier, it should be pointed out that although showing in Fig. 1 using vehicle as carrier
Example, but the restriction to this specification embodiment is not constituted, carrier can also be the other types vehicles, such as various models
Aircraft, vehicle, ship etc., as long as each unit described in this specification can be carried, can be used as this explanation
The carrier of book embodiment description.
Meanwhile Figure of description 1 does not also have restriction effect to the set-up mode of Distributed Scans unit and setting position.
In the embodiment in figure 1, Distributed Scans unit 103 is distributed four positions that carrier quadrangle is arranged in, scanning range covering
Carrier such as is moved along a straight line during exercise, is turned at the motion states.But it is not excluded for other setting sides of Distributed Scans unit
Formula, as shown in figure 13, except the first Distributed Scans unit 2031, the second Distributed Scans unit is respectively set in the quadrangle in carrier
2032, except third Distributed Scans unit 2033, the 4th Distributed Scans unit 2034, two components also are set in carrier two sides
The 5th Distributed Scans unit 2035 of cloth scanning element and the 6th Distributed Scans unit 2036.Wherein the first Distributed Scans
Unit 2031, the second Distributed Scans unit 2032, third Distributed Scans unit 2033, the 4th Distributed Scans unit 2034
Four angular ranges of carrier are detected respectively, and the 5th Distributed Scans unit 2035 and the 6th Distributed Scans unit 2036
Then for being detected to carrier side coil.
In one possible embodiment of this specification, interior optical assembly, which can be, is set to carrier inside, as shown in figure 14
Structure in, interior optical assembly can be set inside the enging cabin of carrier vehicle, also can be set in vehicle cab, In
Inside the enging cabin of vehicle or in vehicle cab, temperature change is very little, it might even be possible to be considered substantially constant
's.Laser and optical detector as used in laser radar are easy the interference by ambient temperature, and common is external
Under the influence of bad weather, detection accuracy and accuracy can all be affected laser radar component.By the way that interior optical assembly is set
It sets in carrier inside, can largely reduce the influence to laser radar such as bad weather.For example, in cold snap
Under, due to carrier inside temperature be substantially it is constant, laser and optical detector not will receive the influence of ambient temperature, and
Continue the emission detection light within the scope of carrier stationary temperature, as a result, without carrying out temperature correction to laser according to temperature.
In an alternate embodiment of the invention, when carrier is vehicle, it is attached that air-conditioning duct inside the vehicle can be set in interior optical assembly
Closely, the adjusting of internal optical assembly temperature is realized using the thermoregulation effect of air-conditioning.In this way, in vehicle travel process, due to air-conditioning
The effect of system, environment temperature locating for interior optical assembly is substantially stationary temperature section, avoids optical assembly when external,
By day and night temperature (maximum temperature difference is up to 20 degree), the influence of the influence (maximum temperature difference is up to 50 degree) of Seasonal Temperature Difference.As it can be seen that interior
The use of optical assembly, without carrying out temperature correction to big temperature range.
The setting of interior optical assembly can also protect the shadow of light source and light receiving unit by overcast and rainy humidity in interior optical assembly
It rings, electrical component is avoided the possibility of short-circuit risks occur, extend the service life of circuit and element.
Interior optical assembly is arranged in the enging cabin or cockpit of vehicle, it is possible to reduce the vibration that interior optical assembly is subject to
It influences.In an alternative embodiment, as shown in figure 15, interior optical assembly 101 can be set in enging cabin support frame institute shape
At triangle ABC position of centre of gravity.At the position of centre of gravity, interior optical assembly is influenced minimum by carrier vibration, thus
Guarantee that light occurs and light receiving element receives the vibration influence minimum that carrier is run.
Certainly, since during laser radar work, the carriers such as vehicle are typically at operating status, the vibration meeting of carrier
Element in optical path is set to occur micro-displacement or deformation, the accumulation of this micro-displacement or deformation will lead to radar detection precision
It reduces.And distribution type laser radar is used, it is that Distributed Scans device is transferred to by way of coupling since light source issues light
, vibration is smaller on the influence of entire scanning process bring, and the precision of detection undoubtedly can be improved in this.
In the foregoing embodiments, the setting of Distributed Scans unit is more for assisting driving, when applied to certainly
When dynamic Driving Scene, Distributed Scans unit can also have other set-up modes.It is illustrated in the following table 1 at present for automatic
The classification situation of driving technology.
Table 1: classification of the National Highway safety management bureau (NHTSA) to automatic Pilot technology
When being applied to limited automatic Pilot (3 grades) or fully automated driving (4 grades) scene, the biography that is equipped on carrier
Sensor needs to realize covering all around for driving.As shown in figure 12, interior optical assembly 201 is set to the inside of carrier, is carrying
The first Distributed Scans unit 2031 is respectively set in left front, right front, left back, the right back of body vehicle, and second is distributed
Scanning element 2032, third Distributed Scans unit 2033, the 4th Distributed Scans unit 2034.In addition to this it is possible to
The 5th Distributed Scans unit 2035 and the 6th Distributed Scans unit 2036 is arranged in two side positions of carrier vehicle.According to vehicle
The scan pattern of Distributed Scans unit is arranged in the motor pattern and motion state of carrier, so that the normally travel for vehicle mentions
For the information of periphery barrier.
As previously mentioned, this specification does not limit carrier specifically, carrier can also be aircraft, as Fig. 5 is shown
Unmanned plane, wherein the system equally includes interior optical assembly 401 equipped with distribution type laser radar system, distributed light connects
Connected components 402, Distributed Scans unit 403.Unmanned plane include body, four wing of unmanned plane, the unmanned plane four wings on be arranged
There are propeller, body lower section to be provided with undercarriage.The internal body of the unmanned plane, Distributed Scans are arranged in interior optical assembly 401
Four wings of the unmanned plane are arranged in unit 403.Interior optical assembly 401, is set to the inside of unmanned plane body, and includes at least:
Light source is used for emission detection light；Light receiving unit, for receiving detection light.
By distributed light connects component 402 by the interior optical assembly 401 light source emit detection optical transport to nobody
The Distributed Scans unit 403 of four wings of machine.Distributed Scans unit 403 can will then be scanned detection light, will detect
Light emitting is to target area, to realize the detection to target area.
For the specific implementation of scanning element in Distributed Scans unit, galvanometer can choose, such as electrostatic galvanometer,
Electromagnetic type galvanometer, piezoelectric type galvanometer, electrothermal galvanometer.It is also an option that tilting mirror, such as rotating prism, Rotating cylindrical surface mirror, rotation
Axicon lens etc..Scanning element can during the swing refer to the light source scanning that distributed light connects component couples different
Search coverage.
The laser that Distributed Scans unit 403 emits is reflected to different location within sweep of the eye, when the laser emitted
Beam is reached reception convergence apparatus by scanning means incidence after target object (or barrier) reflection.Convergence apparatus can be lens
Or lens group, for assembling diverging light, the light beam after convergence is by being transmitted to the interior optical assembly 401 with optical fiber more than one
In optical receiver apparatus.
In interior optical assembly 401, detector is made of one or more detection arrays comprising but be not limited to PIN, APD,
The photoelectric sensors such as GM-APD cover filter plate corresponding with laser emission wavelength thereon, guarantee there was only corresponding wavelength
Light can be tapped by detector photographic department by optical filter and be received.
Detector is emitted to the flight time for receiving the time difference calculating laser of echo-signal by recording laser, thus
Obtain the range information of the object under test.
In an alternative embodiment, the transmitting of light source in interior optical assembly is controlled according to the motor behavior of carrier, and
Reception of the receiving unit for detection light.
For example, in the embodiment of attached drawing 13, when carrier vehicle turn right operation, the interior optical assembly 301 is according to side
To the control signal of sensor, increase right sensor and the corresponding output power of front sensor, to increase corresponding position
Detection range.Alternatively, increasing the equivalent light source number of corresponding direction, such as the detection light of outgoing of script light source is coupled to one
Optical fiber forms an equivalent light source, other optical fiber are idle, and when turning to, idle optical fiber is opened, more equivalent light sources are provided, with
Increase the resolution ratio of orientation.
Certainly, when controlling light source, the scan frequency of scanner can also be controlled simultaneously, such as is scanned with higher frequency,
To increase scanning resolution.
In a possible embodiment, optical amplification unit is set on the optical fiber in the distributed light connects component.
The output intensity of fiber end face is adjusted by optical amplification unit.When for example carrier vehicle is turned, it can use the light and put
Big unit increases detection range.
In a possible embodiment, light-modulating cell is set on the optical fiber in the distributed light connects component,
It is modulated by the emergent light to different optical fiber, realizes the differentiation of the detection light to directive difference search coverage.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (12)
1. a kind of distribution type laser radar, which is characterized in that the laser radar includes: optical transceiver module (101), multiple distributions
Formula scanning element (103), distribution type fiber-optic connection component (102)；
The optical transceiver module (101) includes:
Light source, emission detection light；
The multiple Distributed Scans unit (103), distribution are set to the carrier of the distribution type laser radar；
The distribution type fiber-optic connection component (102), the optical transceiver module (101) that is of coupled connections are swept with the multiple distribution
Retouch unit (103)；
The detection light that light source emits in the optical transceiver module (101) is coupled to distribution type fiber-optic connection component (102), and by
Distribution type fiber-optic connection component (102) synchronous transfer is to the multiple Distributed Scans unit (103), the multiple distribution
Formula scanning element (103) will detect light emitting to search coverage by scanning means；
The distribution type fiber-optic connection component (102) include a plurality of downlink transfer optical fiber, the downlink transfer optical fiber with described point
Cloth scanning element (103) connection；
It detects light to project from the fiber end face of the downlink transfer optical fiber, the end face of optical fiber forms equivalent light source；
The downlink transfer optical fiber is arranged in the form of one-dimensional array in space, will be as described in equivalent light source using fixture
Downlink transfer optical fiber is fixed in one-dimensional array, and the light beam of the end face outgoing of a plurality of downlink transfer optical fiber mutually enters at an angle
It is mapped in scanning element, so that the scanning field of view of the light beam partly overlaps or lucky split, wherein incident ray is dividing
Scanning field of view is formed under the driving of cloth scanning element (103).
2. laser radar according to claim 1, which is characterized in that a plurality of downlink transfer optical fiber is parallel to each other, and a plurality of
The exit end face of downlink transfer optical fiber has different shapes, so that the light beam of end face outgoing is mutually incident at an angle
In scanning element, so that the scanning field of view of the light beam partly overlaps or lucky split.
3. laser radar according to claim 2, which is characterized in that the outgoing end face of a plurality of downlink transfer optical fiber be with
The end face of difference inclination corner cut, and tiltangleθ is less than critical angle C, critical angle C meets:
Wherein n2For air refraction, n1For fiber core refractive index, C then indicates the critical angle of cutting.
4. laser radar according to claim 1, which is characterized in that the distribution type fiber-optic connection component (102) includes
A plurality of uplink optical fiber, the uplink optical fiber by what the Distributed Scans unit (103) received for being reflected back
Optical transport is to the optical transceiver module (101).
5. laser radar according to claim 1, which is characterized in that be provided with light amplification mould on the downlink transfer optical fiber
Block.
6. laser radar according to claim 1, which is characterized in that be provided with light modulation mould on the downlink transfer optical fiber
Block.
7. laser radar according to claim 1, which is characterized in that each of multiple Distributed Scans units (103)
Distributed Scans unit includes scanning device in (103), and the scanning device is electrostatic galvanometer, electromagnetic type galvanometer, pressure
Any one in electric-type galvanometer, electrothermal galvanometer.
8. a kind of distribution type laser radar, which is characterized in that the laser radar includes: interior optical assembly (301,401), distributed
Scanning element (303,403), distribution type fiber-optic connection component (302,402)；
The interior optical assembly (301,401), is set to carrier inside, and include at least:
Light source, emission detection light；
The Distributed Scans unit (303,403), distribution are set to the carrier；
The distribution type fiber-optic connection component (302,402) is of coupled connections with the interior optical assembly (301,401), at the same with point
Cloth scanning element (303,403) is of coupled connections；
In the interior optical assembly (301,401) light source emit detection light be coupled to distribution type fiber-optic connection component (302,
402) it, and by the distribution type fiber-optic connection component (302,402) is transmitted to Distributed Scans unit (303,403), described point
Cloth scanning element (303,403) will detect light emitting to search coverage by scanning means；
The distribution type fiber-optic connection component (302,402) includes a plurality of downlink transfer optical fiber, the downlink transfer optical fiber and institute
State Distributed Scans unit (303,403) connection；
It detects light to project from the fiber end face of the downlink transfer optical fiber, the end face of optical fiber forms equivalent light source；
The downlink transfer optical fiber is arranged in the form of one-dimensional array in space, will be as described in equivalent light source using fixture
Downlink transfer optical fiber is fixed in one-dimensional array, and the light beam of the end face outgoing of a plurality of downlink transfer optical fiber mutually enters at an angle
It is mapped in scanning element, so that the scanning field of view of the light beam partly overlaps or lucky split, wherein incident ray is dividing
Scanning field of view is formed under the driving of cloth scanning element (303,403).
9. laser radar according to claim 8, which is characterized in that the interior optical assembly (301,401) is set to carrier
Internal vibration stability region.
10. a kind of distribution type laser radar, which is characterized in that the laser radar includes: optical transceiver module (101), Duo Gefen
Cloth scanning element (103), distribution type fiber-optic connection component (102)；
The optical transceiver module (101) includes:
Light source, emission detection light；
Light receiving unit, for receiving reflected light；
The multiple Distributed Scans unit (103), distribution are set to the carrier of the distribution type laser radar；
The distribution type fiber-optic connection component (102), the optical transceiver module (101) that is of coupled connections are swept with the multiple distribution
Retouch unit (103)；
The detection light that light source emits in the optical transceiver module (101) is coupled to distribution type fiber-optic connection component (102), and by
Distribution type fiber-optic connection component (102) synchronous transfer is to the multiple Distributed Scans unit (103), the multiple distribution
Formula scanning element (103) passes through scanning means for detection light emitting to search coverage, and receives being reflected back for the search coverage
Light will reflect back into optical transport to the optical transceiver module (101) via distribution type fiber-optic connection component (102), and by the light
Light receiving unit in transmitting-receiving subassembly (101) receives；
The distribution type fiber-optic connection component (102) include a plurality of downlink transfer optical fiber, the downlink transfer optical fiber with described point
Cloth scanning element (103) connection；
It detects light to project from the fiber end face of the downlink transfer optical fiber, the end face of optical fiber forms equivalent light source；
The downlink transfer optical fiber is arranged in the form of one-dimensional array in space, will be as described in equivalent light source using fixture
Downlink transfer optical fiber is fixed in one-dimensional array, and the light beam of the end face outgoing of a plurality of downlink transfer optical fiber mutually enters at an angle
It is mapped in scanning element, so that the scanning field of view of the light beam partly overlaps or lucky split, wherein incident ray is dividing
Scanning field of view is formed under the driving of cloth scanning element (103).
11. laser radar according to claim 10, which is characterized in that include light in the optical transceiver module (101)
Receiving unit, is provided with optical filter between the Distributed Scans unit (103) and the light receiving unit, the optical filter is permitted
Perhaps the light of the detection optical wavelength range of light source transmitting passes through.
12. a kind of distribution type laser radar, which is characterized in that the laser radar includes: interior optical assembly (301,401), distribution
Formula scanning element (303,403), distribution type fiber-optic connection component (302,402)；
The interior optical assembly (301,401), is set to carrier inside, and include at least:
Light source, emission detection light；
Light receiving unit, for receiving reflected light；
The Distributed Scans unit (303,403), distribution are set to the carrier；
The distribution type fiber-optic connection component (302,402) is of coupled connections with the interior optical assembly (301,401), at the same with point
Cloth scanning element (303,403) is of coupled connections；
In the interior optical assembly (301,401) light source emit detection light be coupled to distribution type fiber-optic connection component (302,
402) it, and by the distribution type fiber-optic connection component (302,402) is transmitted to Distributed Scans unit (303,403), described point
Cloth scanning element (303,403) passes through scanning means for detection light emitting to search coverage, and receives the reflection of search coverage
Light echo will reflect back into optical transport to the interior optical assembly (301,401) via distribution type fiber-optic connection component (302,402), and
It is received by the light receiving unit；
The distribution type fiber-optic connection component (302,402) includes a plurality of downlink transfer optical fiber, the downlink transfer optical fiber and institute
State Distributed Scans unit (303,403) connection；
It detects light to project from the fiber end face of the downlink transfer optical fiber, the end face of optical fiber forms equivalent light source；
The downlink transfer optical fiber is arranged in the form of one-dimensional array in space, will be as described in equivalent light source using fixture
Downlink transfer optical fiber is fixed in one-dimensional array, and the light beam of the end face outgoing of a plurality of downlink transfer optical fiber mutually enters at an angle
It is mapped in scanning element, so that the scanning field of view of the light beam partly overlaps or lucky split, wherein incident ray is dividing
Scanning field of view is formed under the driving of cloth scanning element (303,403).
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810292141.3A CN108445468B (en) | 2018-04-03 | 2018-04-03 | A kind of distribution type laser radar |
| PCT/CN2018/086770 WO2019192056A1 (en) | 2018-04-03 | 2018-05-14 | Distributed laser radar |
| EP18913352.3A EP3779502B1 (en) | 2018-04-03 | 2018-05-14 | Distributed lidar |
| US17/037,960 US11002835B2 (en) | 2018-04-03 | 2020-09-30 | Distributed laser radar |
| US17/313,967 US20210278510A1 (en) | 2018-04-03 | 2021-05-06 | Distributed laser radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810292141.3A CN108445468B (en) | 2018-04-03 | 2018-04-03 | A kind of distribution type laser radar |
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|---|---|
| CN108445468A CN108445468A (en) | 2018-08-24 |
| CN108445468B true CN108445468B (en) | 2019-11-05 |
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| CN201810292141.3A Active CN108445468B (en) | 2018-04-03 | 2018-04-03 | A kind of distribution type laser radar |
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|---|---|
| US (2) | US11002835B2 (en) |
| EP (1) | EP3779502B1 (en) |
| CN (1) | CN108445468B (en) |
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| US11860313B2 (en) | 2018-06-15 | 2024-01-02 | Innovusion, Inc. | LiDAR systems and methods for focusing on ranges of interest |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2019192056A1 (en) | 2019-10-10 |
| US20210011138A1 (en) | 2021-01-14 |
| EP3779502A1 (en) | 2021-02-17 |
| EP3779502B1 (en) | 2022-10-12 |
| EP3779502A4 (en) | 2021-06-02 |
| CN108445468A (en) | 2018-08-24 |
| US11002835B2 (en) | 2021-05-11 |
| US20210278510A1 (en) | 2021-09-09 |
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